Energy-Efficient UAV Communication with Multiple GTs Based on Trajectory Optimization

Table 1

Performance comparison for the two special cases with the proposed jointly optimal design.

Period time (s)	Energy efficiency (kbits/J)			Average rate (Mbps)
	Average time allocation	Number of QoS requirements	Joint optimization	Average time allocation	Number of QoS requirements	Joint optimization
100	47.95	51.51	49.06	5.34	5.65	5.43
110	46.53	50.16	46.8	5.44	5.61	5.51
120	45.59	48.63	45.73	5.43	5.75	5.44
130	44.27	50.57	46	5.38	5.79	5.5
140	44.5	50.5	48.38	5.43	5.77	5.56
150	44.76	50.31	48.59	5.46	5.74	5.6
160	47.59	48.8	48.67	5.57	5.62	5.61
170	45.31	49.32	49.23	5.57	5.64	5.62
180	45.53	49.56	49.38	5.57	5.68	5.67